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Note: This tutorial assumes that you have completed the previous tutorials: Configuring the Rapp Manager.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Bring up Rapp Manager

Description: describes what happens when you start rapp manager.

Keywords: rocon rapp rappmanager app manager qt

Tutorial Level: BEGINNER

Next Tutorial: Start Rapp via QT Rapp Manager

Goal

This tutorial describe what you should expect when rocon app manager starts.

Execute

Start rapp manager with your robot

 > roslaunch my_robot_bringup.launch --screen

my_robot_bringup.launch

   1 <launch>
   2   <!-- Robot bringup -->
   3   <!-- Only Rapp Manager -->
   4 
   5   <!-- Rapp Manager -->  
   6   <!-- used as a unique identifier -->
   7   <arg name="robot_name"    default="Whoola"/>
   8 
   9   <!-- just in case you are considering a 'variant' and want to make use of this. -->
  10   <arg name="robot_type"    default="pc"/>
  11 
  12   <!-- Rocon Master Info -->
  13   <!--e.g) turtlebot_bringup/turtlebot2.png" -->
  14   <arg name="robot_icon"    default="rocon_icons/chimek.jpg"/>
  15   <!-- Describe your robot -->
  16   <arg name="robot_description"         default="Kick-ass ROS turtle"/>
  17 
  18   <!-- a list of catkin packages that provide rapps to be loaded by the app manager. -->
  19   <arg name="rapp_package_whitelist"    default="[rocon_apps]"/>
  20   <arg name="rapp_package_blacklist"    default="[]"/>
  21 
  22   <!-- Interactions --> 
  23   <!-- start an interactions manager -->
  24   <arg name="interactions"      default="false"/>
  25   <!-- a list of filenames that provide interactions specifications. -->
  26   <arg name="interactions_list" default="[]"/>
  27 
  28   <!-- Capabilities(Disabled) -->
  29   <!-- Zeroconf(Use default) -->
  30 
  31   <!-- Rapp Manager -->
  32   <include file="$(find rocon_app_manager)/launch/standalone.launch">
  33     <!-- Rapp Manager --> 
  34     <arg name="robot_name"                    value="$(arg robot_name)" />
  35     <arg name="robot_type"                    value="$(arg robot_type)" />
  36     <arg name="robot_icon"                    value="$(arg robot_icon)" />
  37     <arg name="robot_description"             value="$(arg robot_description)" />
  38     <arg name="rapp_package_whitelist"        value="$(arg rapp_package_whitelist)" />
  39     <arg name="rapp_package_blacklist"        value="$(arg rapp_package_blacklist)" />
  40 
  41     <!-- Interactions --> 
  42     <arg name="interactions"                  value="$(arg interactions)"/>
  43     <arg name="interactions_list"             value="$(arg interactions_list)"/>
  44   </include>
  45 </launch>

Outputs

These are the outputs that you should expect.

Terminal

alt text

Rocon Master Info

 > rocon_master_info

chimek.png

Available Topics/Services

Services

/app_manager/invite
/app_manager/list_rapps
/app_manager/platform_info
/app_manager/start_rapp
/app_manager/stop_rapp

Topics

/app_manager/incompatible_rapp_list
/app_manager/rapp_list
/app_manager/status
/gateway/force_update
/gateway/gateway_info

What's Next


2019-11-16 13:14